Interface and placeholder of controllers/helpers for wires. More...

#include <Wire.h>

Inheritance diagram for agxWire::Wire:

Classes
struct	TensionData
	Structure containing relevant tension data given one look-up. More...

Public Types
typedef SimulationProxyT< agxSDK::StepEventListener >	base

Public Member Functions
	Wire (agx::Real radius, agx::Real resolutionPerUnitLength, bool enableCollisions=true)
	Constructor given the basic parameters to create a wire.

virtual bool	add (agxWire::Link *link, bool updateConnectionType=true)
	Add link to the route.

virtual bool	add (agxWire::Link *link, const agx::Vec3 &relativeTranslate)
	Add link to the route.

virtual bool	add (agxWire::Node *node)
	Add node to this wire.

virtual bool	add (agxWire::WireWinchController *winchController)
	Add winch to this wire.

virtual bool	add (agxWire::WireWinchController *winchController, agx::Real pulledInLength)
	Add winch to this wire.

void	addGroup (const agx::Name &name)
	Add group for all geometries handled by this collision controller.

void	addGroup (uint32_t id)
	Add group for all geometries handled by this collision controller.

virtual bool	attach (agxWire::Node *node, bool begin)
	Attach this wire to a new object given new begin or end node and at which end.

virtual bool	attach (agxWire::WireWinchController *winchController, bool begin)
	Attach a winch to a free end of this wire.

bool	changeRigidBody (agxWire::Node node, agx::RigidBody newRigidBody) const
	Utility method to change rigid body in any node, given it has a valid node type.

virtual agxWire::Wire *	clone (agxWire::Wire *newWire=nullptr)
	Clone this wire object and return an empty, uninitialized wire.

agxWire::WireRef	cut (agx::Real distanceAlongWire, size_t minimumResolution, bool includeWinchPulledInLength=true)
	Cut this wire given distance from start (including winches).

agxWire::WireRef	cut (const agx::Vec3 &worldPoint, size_t minimumResolution)
	Cut this wire given any point in world.

virtual bool	detach (bool begin)
	Detach begin or end of this wire (if attached to something).

agx::Vec3	findPoint (agx::Real distanceFromStart) const
	Returns a point on this wire `distanceFromStart` meters from the beginning of this wire.

agx::Vec3	findPoint (agx::Real distanceFromStart, bool includesWinchesPulledInLength) const
	Returns a point on this wire `distanceFromStart` meters from the beginning of this wire.

agx::Vec3	findPoint (const agx::Vec3 &point) const
	Given any point in 3D, this method will find a point on this wire which is closest to the given point.

agx::Real	findRestLength (bool includeWinches=true) const
	Extended functionality, compared to getRestLength, to find rest length of this wire in a agxWire::Winch and agxWire::Link system.

agx::Real	findRestLengthFromStart (const agx::Vec3 &point, bool includeWinchesPulledInLength=true) const
	Given any point in 3D, this method will find the distance along this wire which is closest to the given point.

agxWire::WireContactController *	getActiveContactController () const

WireContactControllerType	getActiveContactControllerType () const

const agxWire::WireAttachmentController *	getBeginAttachment () const
	Return pointer to the attachment controller used at begin of the wire constraint.

agxWire::WireDistanceCompositeConstraint *	getConstraint () const

agx::Real	getContactNodeMomentum () const

agx::Real	getCurrentLength (bool includeWinches=true) const
	Calculates the current length of this wire (stretched/compressed included).

agx::Real	getCurrentLength (const agxWire::Node node1, const agxWire::Node node2) const
	Calculates the current length between node1 and node2 in wire coordinates.

agx::Real	getCurrentLengthScaler (const agxWire::Node *node) const
	Given node on this wire, calculates the transform from rest length to current length.

bool	getEnableCollisions () const

bool	getEnableCollisions (const agx::RigidBody *rb) const

bool	getEnableCollisions (const agxCollide::Geometry *geometry) const

bool	getEnableSplitting () const

const agxWire::WireAttachmentController *	getEndAttachment () const
	Return pointer to the attachment controller used at end of the wire constraint.

agxWire::Node *	getFirstNode () const

agx::Frame *	getFrame () const
	This wire has a frame which is the parent frame of all internal bodies.

void	getGeometries (agxCollide::GeometryPtrVector &geoms) const
	Fills `geoms` with all geometries used by this wire.

agxWire::WireGeometryController *	getGeometryController () const

agxWire::Node *	getLastNode () const

agx::Real	getLinearVelocityDamping () const

agx::Real	getMass () const

agx::Material *	getMaterial () const

agxWire::WireMaterialController *	getMaterialController () const

agxWire::WireParameterController *	getParameterController () const

agx::PropertyContainer *	getPropertyContainer ()

const agx::PropertyContainer *	getPropertyContainer () const

agx::Real	getRadius () const

agx::Real	getRadiusIncludingContactNodeOffsetDistanceMultiplier () const

agxWire::RenderIterator	getRenderBeginIterator () const

agxWire::RenderIterator	getRenderEndIterator () const

bool	getRenderListEmpty () const

agx::Real	getResolutionPerUnitLength () const

virtual agx::Real	getRestLength (bool includeWinches=true) const
	Calculates the rest length of this wire.

agx::Real	getRestLength (const agxWire::Node node1, const agxWire::Node node2) const
	Calculates the rest length between two nodes (node1 and node2).

agx::Real	getRestLengthScaler (const agxWire::Node *node) const
	Given node on this wire, calculates the transform from current length to rest length.

agxWire::WireRouteController *	getRouteController () const

agxWire::WireSimplifyController *	getSimplifyController () const

const agxUtil::SmoothingFilter *	getSmoothingFilter () const

agx::SolveIslandSplitAlgorithm *	getSplitAlgorithm () const
	Get pointer to solve algorithm.

agxWire::WireStabilityController *	getStabilityController () const

agxWire::WireSegmentTensionData	getTension (agx::Real distanceFromStart) const
	Returns the current tension in a point given distance from start of this wire.

agxWire::WireSegmentTensionData	getTension (const agx::Vec3 &point) const
	Given any point in 3D, this method will find a point on this wire which is closest to the given point and returns the current tension in that point.

agxWire::WireNodeTensionData	getTension (const agxWire::Node *node) const

agxWire::WireWinchController *	getWinchController (size_t i) const

bool	hasContactNodesOn (const agx::RigidBody *rb) const

bool	hasContactNodesOn (const agxCollide::Geometry *geometry) const

bool	hasGeometry (const agxCollide::Geometry *geometry) const

bool	hasGroup (const agx::Name &name) const
	Find if wire geometries contains group.

bool	hasGroup (const uint32_t id) const
	Find if wire geometries contains group.

bool	hasNode (const agxWire::Node *node) const

bool	hasPropertyContainer () const

bool	initialized () const

bool	insert (agxWire::Node *node, agx::Real distanceFromStart, bool includeWinchPulledInLength=true)
	Insert a node in this given distance along this wire.

bool	insert (agxWire::Node *node, const agx::Vec3 &worldPoint)
	Insert a node given a point in world coordinate system.

bool	isSimplified () const

bool	merge (agxWire::WireRef other)
	Merge this wire with `other` wire.

virtual void	post (const agx::TimeStamp &t) override
	Clean up after splitting.

virtual void	pre (const agx::TimeStamp &t) override
	Run stability update.

virtual void	preCollide (const agx::TimeStamp &) override
	Update geometries.

virtual bool	remove (agxWire::Node *node)
	Remove node from this wire.

virtual bool	remove (agxWire::WireWinchController *winchController)
	Remove winch from this wire.

void	removeGeometries ()
	Removes all geometries.

void	removeGroup (const agx::Name &name)
	Remove group for all geometries handled by this collision controller.

void	removeGroup (uint32_t id)
	Remove group for all geometries handled by this collision controller.

bool	replaceBodyInNodes (agx::RigidBody currentBody, agx::RigidBody newBody, agxCollide::Geometry *geometry=nullptr)
	Given `currentBody`, go through all bodies related to this Wire and replace them with `newBody`.

void	replaceContactNodesWithShapeContacts ()
	Replace all contact nodes with shape contact nodes.

bool	reverse ()
	Reverse this wire - use to match merge where first wire end is connected to second wire begin.

agx::Real	scaleToCurrentlength (agx::Real restLength, const agxWire::Node *node) const
	Scale rest length to current length.

agx::Real	scaleToRestlength (agx::Real currentLength, const agxWire::Node *node) const
	Scale current length in world coordinates to rest length.

void	setActiveContactControllerType (const WireContactControllerType type)
	Choose the type of WireContactController to use Default is the WireShapeContactController.

void	setEnableCollisions (agx::RigidBody *rb, bool enable)
	Enable or disable collisions between all geometries in a rigid body and this wire.

void	setEnableCollisions (agxCollide::Geometry *geometry, bool enable, bool forceContactUpdate=false)
	Enable or disable collisions between a geometry and this wire.

void	setEnableCollisions (bool enable)
	Enable or disable this wire collision handling (i.e., if false, this wire will only contain bodies and constraints, no geometries)

void	setEnableSplitting (bool splitting)
	enable/disable the ability to automatically split the wire at a body fixed node.

void	setFrame (agx::Frame *frame)
	Assign new parent frame to this wire.

void	setInitializationController (agxWire::WireInitializationController *initializationController)
	Assign initialization controller for this wire.

void	setIsBendResistent (bool isBendResistant)
	This determines if the wire should have a bend constraint or not.

void	setLinearVelocityDamping (agx::Real linearVelocityDamping)
	Assigns linear velocity damping to all lumped nodes (i.e., rigid bodies owned by this wire) in this wire.

virtual void	setMaterial (agx::Material *material)
	Sets the material for this wire.

void	setPropertyContainer (agx::PropertyContainer *propertyContainer)
	Property container for all rigid bodies and geometries that are owned by this wire.

virtual void	setRadius (agx::Real radius)
	Set the radius of this wire.

void	setResolutionPerUnitLength (agx::Real resolutionPerUnitLength)
	Assign new resolution per unit length.

bool	setRouteController (agxWire::WireRouteController *routeController, bool copyCurrentRouteToNew=false)
	Associate new, own implemented, route controller to this wire.

void	setSmoothedTension (agx::Real newSmoothedTension)
	Assign smoothed tension (can be useful after certain events, like cut) to this wire.

void	setSmoothedTension (agx::Real newSmoothedTension, agxWire::NodeIterator from, agxWire::NodeIterator to)
	Assign smoothed tension (can be useful after certain events, like cut) to part of this wire.

void	setSmoothingFilter (agxUtil::SmoothingFilter *filter)
	Assign filter that will be used to filter out the tension values for smoothed tension readings.

void	setSolveType (agx::Constraint::SolveType solveType)
	Set solve type, either DIRECT, ITERATIVE or DIRECT_AND_ITERATIVE.

bool	shorten (const agxWire::Node *toNode, bool fromBegin)
	Shorten this wire to a given node.

bool	simplify (const agx::Frame *parentFrame=nullptr)
	Simplify this wire.

bool	unsimplify ()
	Unsimplify this wire.

void	updateNodeTransforms ()
	Updates all node transforms.

Static Public Member Functions
static agxWire::Wire *	find (agxSDK::Simulation *simulation, const agx::Name &name)
	Find wire instance given simulation and name.

static agxWire::Wire *	find (agxSDK::Simulation *simulation, const agx::Uuid &uuid)
	Find wire instance given simulation and unique id.

static agxWire::WirePtrVector	findAll (const agxSDK::Simulation *simulation)
	Finds all agxWire::Wire instances in the given simulation.

static agxWire::WirePtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Finds all wire instances given simulation and name.

static agxWire::BodyFixedNode *	getLumpedNode (agx::RigidBody *rb)

static const agxWire::BodyFixedNode *	getLumpedNode (const agx::RigidBody *rb)

static agxWire::Wire *	getWire (agx::RigidBody *rb)

static agxWire::Wire *	getWire (agxCollide::Geometry *geometry)

static const agxWire::Wire *	getWire (const agx::RigidBody *rb)

static const agxWire::Wire *	getWire (const agxCollide::Geometry *geometry)

static agx::Bool	isLumpedNode (const agx::RigidBody *rb)

static void	setEnableGroupWireCollision (agxCollide::Space *space, const agx::UInt32 group, bool enable)
	Enable/Disable a group (unique group id) against all wires.

Protected Member Functions
	Wire ()
	Serializable.

virtual	~Wire ()
	Reference counted class, protected destructor.

virtual void	addNotification () override
	Called when this wire is added to a simulation, if this wire hasn't been initialized before this call it will initialize it self during this call.

agxWire::WireAttachmentController *	getBeginAttachment ()
	Return pointer to the attachment controller used at begin of the wire constraint.

agxWire::WireAttachmentController *	getEndAttachment ()
	Return pointer to the attachment controller used at end of the wire constraint.

agxSDK::EventListener::Type	getType () const
	Hide eventListenerType getType()

virtual void	removeNotification () override
	Called when this wire is removed from the simulation.

virtual void	setWinchController (agxWire::WireWinchController *winchController, bool begin)
	Assign new winch controller to this wire.

void	updateMaterial ()
	Loop through all nodes and update mass (and material NOT IMPLEMENTED)

Protected Attributes
WireDistanceCompositeConstraintRef	m_constraint

agx::FrameRef	m_frame

WireFrictionControllerRef	m_frictionController

WireGeometryControllerRef	m_geometryController

WireInitializationControllerRef	m_initializationController

bool	m_initialized

agx::ref_ptr< agx::Referenced >	m_internalData

agx::Real	m_linearVelocityDamping
	Only linear velocity damping as real is defined for lumped nodes.

WireMaterialControllerRef	m_materialController

WireParameterController	m_parameterController

agx::PropertyContainerRef	m_propertyContainer

agx::ref_ptr< agx::Referenced >	m_propertyController

WireRouteControllerRef	m_routeController

WireSimplifyControllerRef	m_simplifyController

agxUtil::SmoothingFilterRef	m_smoothingFilter

agx::Constraint::SolveType	m_solveType

agx::ref_ptr< agx::Referenced >	m_splitAlgorithm

bool	m_splitEnabled

WireStabilityControllerRef	m_stabilityController

WireWinchControllerRefVector	m_winchControllers
	Winch controller vector, always of size 2, default both 0.

Detailed Description

Interface and placeholder of controllers/helpers for wires.

Definition at line 61 of file Wire.h.

Member Typedef Documentation

◆ base

typedef SimulationProxyT< agxSDK::StepEventListener > agxWire::Wire::base

Definition at line 64 of file Wire.h.

Constructor & Destructor Documentation

◆ Wire() [1/2]

agxWire::Wire::Wire	(	agx::Real	radius,
		agx::Real	resolutionPerUnitLength,
		bool	enableCollisions = `true`
	)

Constructor given the basic parameters to create a wire.

Parameters

radius	- radius of this wire given in dimension of length
resolutionPerUnitLength	- resolution per unit length, i.e., how many discrete nodes that may appear per unit length (length = 10 m, resolutionPerUnitLength = 2 gives at maximum 20 nodes, length 10 m, resolutionPerUnitLength = 0.5 gives at maximum 5 nodes)
enableCollisions	- default true. If false, this wire can not collide with anything and will not handle or insert geometries

◆ Wire() [2/2]

agxWire::Wire::Wire ( )

protected

Serializable.

Default constructor.

◆ ~Wire()

virtual agxWire::Wire::~Wire ( )

protectedvirtual

Reference counted class, protected destructor.

Member Function Documentation

◆ add() [1/5]

virtual bool agxWire::Wire::add	(	agxWire::Link *	link,
		bool	updateConnectionType = `true`
	)

virtual

Add link to the route.

Default behavior is that the route determines the connection type of the link connection and overwrites the old connection type. If updateConnectionType is false this call will fail if the connection types mismatches.

Parameters

link	- link with predefined connection to this wire
updateConnectionType	- default true to update connection in the link given the current route of this wire, false to fail if connection type mismatch

Returns: true if successful - otherwise false

◆ add() [2/5]

virtual bool agxWire::Wire::add	(	agxWire::Link *	link,
		const agx::Vec3 &	relativeTranslate
	)

virtual

Add link to the route.

This method will connect this wire to the link and add the link to the route, i.e., equivalent to: link->connect( wire, relativeTranslate, connectionType ); wire->add( link ); The connection type will be determined given the current route.

Parameters

link	- link to connect to and add to route
relativeTranslate	- position in this links frame where the connection point is

Returns: true if successful - otherwise false

◆ add() [3/5]

virtual bool agxWire::Wire::add ( agxWire::Node * node )

virtual

Add node to this wire.

Note that this call only is valid during initial route, i.e., it is not possible to add nodes when this wire is initialized.

Parameters

node	- node to add to this wire

Returns: true if the node was added to this wire - otherwise false (line initialized for example)

◆ add() [4/5]

virtual bool agxWire::Wire::add ( agxWire::WireWinchController * winchController )

virtual

Add winch to this wire.

Note that this call only is valid during initial route. I.e., it's not possible to add winches when this wire is initialized.

Parameters

winchController - winch to add

Returns: true if the winch was successfully added to this wire - otherwise false

◆ add() [5/5]

virtual bool agxWire::Wire::add	(	agxWire::WireWinchController *	winchController,
		agx::Real	pulledInLength
	)

virtual

Add winch to this wire.

Note that this call only is valid during initial route. I.e., it's not possible to add winches when this wire is initialized.

Parameters

winchController	- winch
pulledInLength	- length rolled up on the winch

Returns: true if the winch was successfully added to this wire - otherwise false

◆ addGroup() [1/2]

void agxWire::Wire::addGroup ( const agx::Name & name )

Add group for all geometries handled by this collision controller.

Parameters

name	- name for the new group

◆ addGroup() [2/2]

void agxWire::Wire::addGroup ( uint32_t id )

Add group for all geometries handled by this collision controller.

Parameters

id	- id for the new group

◆ addNotification()

virtual void agxWire::Wire::addNotification ( )

overrideprotectedvirtual

Called when this wire is added to a simulation, if this wire hasn't been initialized before this call it will initialize it self during this call.

◆ attach() [1/2]

virtual bool agxWire::Wire::attach	(	agxWire::Node *	node,
		bool	begin
	)

virtual

Attach this wire to a new object given new begin or end node and at which end.

If this wire is attached (i.e., first or last node != free node) a detach will be performed before attach. Valid types of node is Node::BODY_FIXED and Node::CONNECTING. It is not valid to attach from an end where a winch is located.

Parameters

node	- new begin or end node (body fixed or connecting)
begin	- if true, `node` will be new begin attachment - otherwise new end attachment

Returns: true if attach was successful (correct node and valid wire) - otherwise false

◆ attach() [2/2]

virtual bool agxWire::Wire::attach	(	agxWire::WireWinchController *	winchController,
		bool	begin
	)

virtual

Attach a winch to a free end of this wire.

If an object is attached to begin, it will be detached, and this winch controller will be attached at this position instead.

Parameters

winchController	- winch controller to attach
begin	- true if `winchController` should be attached at begin, false at end

Returns: true if the winch controller was attached

◆ changeRigidBody()

bool agxWire::Wire::changeRigidBody	(	agxWire::Node *	node,
		agx::RigidBody *	newRigidBody
	)		const

Utility method to change rigid body in any node, given it has a valid node type.

Valid node types are: agxWire::Node::BODY_FIXED, agxWire::Node::CONNECTING and agxWire::Node::EYE.

Notes: BODY_FIXED: If this fixed node is part of a connecting node (cm-node) the body will be changed in the connecting node as well. CONNECTING: If connecting node its center of mass node (fixed) will also change rigid body. EYE: If eye node, and "double eye" was created, both eye nodes will change rigid body.

The node will have the same position in world coordinates after the call to this method. I.e., a new local offset is calculated as well.

Parameters

node	- node to change rigid body on (see "Notes" above)
newRigidBody	- the new rigid body (if 0, the node will be connected in world)

Returns: true if the change were successful

◆ clone()

virtual agxWire::Wire * agxWire::Wire::clone ( agxWire::Wire * newWire = nullptr )

virtual

Clone this wire object and return an empty, uninitialized wire.

Used during cut.

Parameters

newWire - if not null this object is interpreted as the clone (i.e., no 'new' will be created in clone)

Returns: a new empty wire

◆ cut() [1/2]

agxWire::WireRef agxWire::Wire::cut	(	agx::Real	distanceAlongWire,
		size_t	minimumResolution,
		bool	includeWinchPulledInLength = `true`
	)

Cut this wire given distance from start (including winches).

If successful cut, a new wire is returned with at least minimumResolution number of lumps. The new wire is added to the simulation if this wire was in a simulation.

Parameters

distanceAlongWire	- distance along this wire where the cut should be made
minimumResolution	- minimum number of lumps the wires (this and the new) after cut (if very short for example)
includeWinchPulledInLength	- default true, if false any pulled in length in begin winch will be ignored

Returns: new wire if cut was successful - otherwise 0

◆ cut() [2/2]

agxWire::WireRef agxWire::Wire::cut	(	const agx::Vec3 &	worldPoint,
		size_t	minimumResolution
	)

Cut this wire given any point in world.

The cut position will be the one closest to worldPoint on this wire. If successful cut, a new wire is returned with at least minimumResolution number of lumps. The new wire is added to the simulation if this wire was in a simulation.

Parameters

worldPoint	- any point in world
minimumResolution	- minimum number of lumps the wires (this and the new) after cut (if very short for example)

Returns: new wire if cut was successful - otherwise 0

◆ detach()

virtual bool agxWire::Wire::detach ( bool begin )

virtual

Detach begin or end of this wire (if attached to something).

Parameters

begin - if true, begin of this wire will be detached - otherwise end

Returns: true if a detach was performed - otherwise false

◆ find() [1/2]

static agxWire::Wire * agxWire::Wire::find	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find wire instance given simulation and name.

Parameters

simulation	- simulation
name	- name of wire instance to find

Returns: wire instance with given name if found - otherwise null

◆ find() [2/2]

static agxWire::Wire * agxWire::Wire::find	(	agxSDK::Simulation *	simulation,
		const agx::Uuid &	uuid
	)

static

Find wire instance given simulation and unique id.

Parameters

simulation	- simulation
uuid	- UUID of wire instance to find

Returns: wire instance with given UUID if found - otherwise null

◆ findAll() [1/2]

static agxWire::WirePtrVector agxWire::Wire::findAll ( const agxSDK::Simulation * simulation )

static

Finds all agxWire::Wire instances in the given simulation.

Parameters

simulation - simulation

Returns: wire instances found in the given simulation

◆ findAll() [2/2]

static agxWire::WirePtrVector agxWire::Wire::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Finds all wire instances given simulation and name.

Parameters

simulation	- simulation
name	- name of wire instances to find

Returns: wire instances with given name

◆ findPoint() [1/3]

agx::Vec3 agxWire::Wire::findPoint ( agx::Real distanceFromStart ) const

Returns a point on this wire distanceFromStart meters from the beginning of this wire.

Any winch (etc) that can hold/hide parts of this wire is included in the distance. I.e., if a winch, at begin, has 500 meters pulled in and distanceFromStart = 501, the point at 1 meter from the winch is returned.

Parameters

distanceFromStart - distance from start including winch pulled in length

Returns: point in this wire distanceFromStart away

◆ findPoint() [2/3]

agx::Vec3 agxWire::Wire::findPoint	(	agx::Real	distanceFromStart,
		bool	includesWinchesPulledInLength
	)		const

Returns a point on this wire distanceFromStart meters from the beginning of this wire.

If includesWinchesPulledInLength is true, distanceFromStart is assumed to include any pulled in wire at the beginning of this wire. If includesWinchesPulledInLength is false, the distance is assumed to be given from the first visible node of the wire.

Parameters

distanceFromStart	- distance from start
includesWinchesPulledInLength	- true if `distanceFromStart` include a begin winch pulled in length, false if `distanceFromStart` does not include a begin winch pulled in length

Returns: point in this wire distanceFromStart away

◆ findPoint() [3/3]

agx::Vec3 agxWire::Wire::findPoint ( const agx::Vec3 & point ) const

Given any point in 3D, this method will find a point on this wire which is closest to the given point.

Parameters

point - any point

Returns: a point on this wire closest to point

◆ findRestLength()

agx::Real agxWire::Wire::findRestLength ( bool includeWinches = true ) const

Extended functionality, compared to getRestLength, to find rest length of this wire in a agxWire::Winch and agxWire::Link system.

If this wire is attached to a winch and a link is being pulled in, getRestLength will either return a misleading or zero length but this method will find the actual rest length.

Parameters

includeWinches - if true, the winches pulled in length will be added to the simulated rest length.

Returns: the rest length of this wire, 0 if this wire isn't initialized.

◆ findRestLengthFromStart()

agx::Real agxWire::Wire::findRestLengthFromStart	(	const agx::Vec3 &	point,
		bool	includeWinchesPulledInLength = `true`
	)		const

Given any point in 3D, this method will find the distance along this wire which is closest to the given point.

Parameters

point	- any point
includeWinchesPulledInLength	- if true the algorithm will take the pulled in length, of the begin winch, into account

Returns: the distance from start of this wire, closest to the given point

◆ getActiveContactController()

agxWire::WireContactController * agxWire::Wire::getActiveContactController ( ) const

Returns: pointer to contact controller

◆ getActiveContactControllerType()

WireContactControllerType agxWire::Wire::getActiveContactControllerType ( ) const

◆ getBeginAttachment() [1/2]

agxWire::WireAttachmentController * agxWire::Wire::getBeginAttachment ( )

protected

Return pointer to the attachment controller used at begin of the wire constraint.

Returns: - the begin attachment.

◆ getBeginAttachment() [2/2]

const agxWire::WireAttachmentController * agxWire::Wire::getBeginAttachment ( ) const

Return pointer to the attachment controller used at begin of the wire constraint.

Returns: - the begin attachment.

◆ getConstraint()

WireDistanceCompositeConstraint * agxWire::Wire::getConstraint ( ) const

inline

Returns: the constraint used by this line

Definition at line 1082 of file Wire.h.

Referenced by agxUtil::CollectBodiesAndWiresVisitor::visit().

◆ getContactNodeMomentum()

agx::Real agxWire::Wire::getContactNodeMomentum ( ) const

◆ getCurrentLength() [1/2]

agx::Real agxWire::Wire::getCurrentLength ( bool includeWinches = true ) const

Calculates the current length of this wire (stretched/compressed included).

If the winches are included their pulled in length will be added to the simulated current length.

Parameters

includeWinches - if true, their pulled in length will be added to the simulated current length

Returns: the current length of this wire

◆ getCurrentLength() [2/2]

agx::Real agxWire::Wire::getCurrentLength	(	const agxWire::Node *	node1,
		const agxWire::Node *	node2
	)		const

Calculates the current length between node1 and node2 in wire coordinates.

Note that node1 has to be before node2 in this wire, i.e., if you travel along the wire from the beginning, the first node of the two you meet is node1.

Parameters

node1	- first wire node
node2	- second wire node

Returns: the current length between the node. If something goes wrong, the return value will be -1.

◆ getCurrentLengthScaler()

agx::Real agxWire::Wire::getCurrentLengthScaler ( const agxWire::Node * node ) const

Given node on this wire, calculates the transform from rest length to current length.

Parameters

node	- node on this wire, close to where the scale is about to be used

Returns: the scaler for scaling a current length to a rest length given the violation of the wire near the node

◆ getEnableCollisions() [1/3]

bool agxWire::Wire::getEnableCollisions ( ) const

Returns: true if collisions is enabled for this wire - otherwise false

◆ getEnableCollisions() [2/3]

bool agxWire::Wire::getEnableCollisions ( const agx::RigidBody * rb ) const

Returns: true if collisions are enabled between ALL the geometries in the rigid body and this wire - otherwise false

◆ getEnableCollisions() [3/3]

bool agxWire::Wire::getEnableCollisions ( const agxCollide::Geometry * geometry ) const

Returns: true if collisions are enabled between the geometry and this wire - otherwise false

◆ getEnableSplitting()

bool agxWire::Wire::getEnableSplitting ( ) const

Returns: true - if wire has splitting enabled

◆ getEndAttachment() [1/2]

agxWire::WireAttachmentController * agxWire::Wire::getEndAttachment ( )

protected

Return pointer to the attachment controller used at end of the wire constraint.

Returns: - the end attachment.

◆ getEndAttachment() [2/2]

const agxWire::WireAttachmentController * agxWire::Wire::getEndAttachment ( ) const

Return pointer to the attachment controller used at end of the wire constraint.

Returns: - the end attachment.

◆ getFirstNode()

agxWire::Node * agxWire::Wire::getFirstNode ( ) const

Returns: the first node in this wire - null if no nodes

◆ getFrame()

agx::Frame * agxWire::Wire::getFrame ( ) const

This wire has a frame which is the parent frame of all internal bodies.

Returns: frame of this wire

◆ getGeometries()

void agxWire::Wire::getGeometries ( agxCollide::GeometryPtrVector & geoms ) const

Fills geoms with all geometries used by this wire.

Parameters

geoms - geometry vector to fill

◆ getGeometryController()

WireGeometryController * agxWire::Wire::getGeometryController ( ) const

inline

Returns: pointer to geometry controller

Definition at line 1077 of file Wire.h.

◆ getLastNode()

agxWire::Node * agxWire::Wire::getLastNode ( ) const

Returns: the last node in this wire - null if no nodes

◆ getLinearVelocityDamping()

agx::Real agxWire::Wire::getLinearVelocityDamping ( ) const

Returns: current linear velocity damping used

◆ getLumpedNode() [1/2]

static agxWire::BodyFixedNode * agxWire::Wire::getLumpedNode ( agx::RigidBody * rb )

static

Parameters

rb	- any rigid body

Returns: the lumped node object if rb is a lumped node, otherwise null

◆ getLumpedNode() [2/2]

static const agxWire::BodyFixedNode * agxWire::Wire::getLumpedNode ( const agx::RigidBody * rb )

static

Parameters

rb	- any rigid body

Returns: the lumped node object if rb is a lumped node, otherwise null

◆ getMass()

agx::Real agxWire::Wire::getMass ( ) const

Returns: the sum of all discrete node masses in this wire (i.e., the current, total simulated wire mass)

◆ getMaterial()

agx::Material * agxWire::Wire::getMaterial ( ) const

Returns: the material for this wire

◆ getMaterialController()

WireMaterialController * agxWire::Wire::getMaterialController ( ) const

inline

Returns: the material controller

Definition at line 1072 of file Wire.h.

◆ getParameterController()

WireParameterController * agxWire::Wire::getParameterController ( ) const

inline

Returns: the wire parameter controller holding all parameters used to simulate this wire

Definition at line 1057 of file Wire.h.

◆ getPropertyContainer() [1/2]

agx::PropertyContainer * agxWire::Wire::getPropertyContainer ( )

Returns: a pointer to the PropertyContainer. If no one exists, a new will be created and returned

Definition at line 1092 of file Wire.h.

◆ getPropertyContainer() [2/2]

const agx::PropertyContainer * agxWire::Wire::getPropertyContainer ( ) const

Returns: a pointer to the PropertyContainer

Definition at line 1104 of file Wire.h.

◆ getRadius()

agx::Real agxWire::Wire::getRadius ( ) const

Returns: the radius of this wire

◆ getRadiusIncludingContactNodeOffsetDistanceMultiplier()

agx::Real agxWire::Wire::getRadiusIncludingContactNodeOffsetDistanceMultiplier ( ) const

Returns: the radius of this wire including the offset distance for contact nodes

◆ getRenderBeginIterator()

agxWire::RenderIterator agxWire::Wire::getRenderBeginIterator ( ) const

Returns: the iterator to the first node of the visual part of this wire

Note: Check so that the rendering list is not empty before use of this method.

See also: getRenderListEmpty, getRenderEndIterator

◆ getRenderEndIterator()

agxWire::RenderIterator agxWire::Wire::getRenderEndIterator ( ) const

Returns: the iterator the node AFTER the last node that is part of the visual part of this wire

Note: Check so that the rendering list is not empty before use of this method.

See also: getRenderListEmpty, getRenderBeginIterator

◆ getRenderListEmpty()

bool agxWire::Wire::getRenderListEmpty ( ) const

Returns: true if the render list is empty - otherwise false

◆ getResolutionPerUnitLength()

agx::Real agxWire::Wire::getResolutionPerUnitLength ( ) const

Returns: the current resolution per unit length

◆ getRestLength() [1/2]

virtual agx::Real agxWire::Wire::getRestLength ( bool includeWinches = true ) const

virtual

Calculates the rest length of this wire.

If the winches are included their pulled in length will be added to the simulated rest length. Note that this wire doesn't have a rest length before it's initialized.

Parameters

includeWinches - if true, their pulled in length will be added to the simulated rest length

Returns: the rest length of this wire, route length if this wire isn't initialized

◆ getRestLength() [2/2]

agx::Real agxWire::Wire::getRestLength	(	const agxWire::Node *	node1,
		const agxWire::Node *	node2
	)		const

Calculates the rest length between two nodes (node1 and node2).

Note that node1 has to be before node2 in this wire, i.e., if you travel along the wire from the beginning, the first node of the two you meet is node1.

Note: It's not defined to call this method if this wire is uninitialized - return value will be -1 until the wire is initialized.

Parameters

node1	- first wire node
node2	- second wire node

Returns: the rest length between the node. If something goes wrong, the return value will be -1.

◆ getRestLengthScaler()

agx::Real agxWire::Wire::getRestLengthScaler ( const agxWire::Node * node ) const

Given node on this wire, calculates the transform from current length to rest length.

Parameters

node	- node on this wire, close to where the scale is about to be used

Returns: the scaler for scaling a current length to a rest length given the violation of the wire near the node

◆ getRouteController()

WireRouteController * agxWire::Wire::getRouteController ( ) const

inline

Returns: the current route controller

Definition at line 1062 of file Wire.h.

◆ getSimplifyController()

agxWire::WireSimplifyController * agxWire::Wire::getSimplifyController ( ) const

Returns: the simplify controller used by this wire

◆ getSmoothingFilter()

const agxUtil::SmoothingFilter * agxWire::Wire::getSmoothingFilter ( ) const

Returns: the current smoothing filter used

◆ getSplitAlgorithm()

agx::SolveIslandSplitAlgorithm * agxWire::Wire::getSplitAlgorithm ( ) const

Get pointer to solve algorithm.

◆ getStabilityController()

WireStabilityController * agxWire::Wire::getStabilityController ( ) const

inline

Returns: the stability controller

Definition at line 1067 of file Wire.h.

◆ getTension() [1/3]

agxWire::WireSegmentTensionData agxWire::Wire::getTension ( agx::Real distanceFromStart ) const

Returns the current tension in a point given distance from start of this wire.

Any winch (etc) that can hold/hide parts of this wire is included in the distance. I.e., if a winch, at begin, has 500 meters pulled in and distanceFromStart = 501, the tension at 1 meter from the winch is returned.

Parameters

distanceFromStart - distance from start including winch pulled in length

Returns: current tension

◆ getTension() [2/3]

agxWire::WireSegmentTensionData agxWire::Wire::getTension ( const agx::Vec3 & point ) const

Given any point in 3D, this method will find a point on this wire which is closest to the given point and returns the current tension in that point.

Parameters

point - any point

Returns: current tension closest to point

◆ getTension() [3/3]

agxWire::WireNodeTensionData agxWire::Wire::getTension ( const agxWire::Node * node ) const

Returns: the current tension at the current position of this node

◆ getType()

agxSDK::EventListener::Type agxWire::Wire::getType ( ) const

protected

Hide eventListenerType getType()

◆ getWinchController()

agxWire::WireWinchController * agxWire::Wire::getWinchController ( size_t i ) const

Returns: winch controller i, where i is 0 or 1, 0 means begin winch and 1 end. Returns zero if i is larger than 2 or if there's no winch at the desired position.

◆ getWire() [1/4]

static agxWire::Wire * agxWire::Wire::getWire ( agx::RigidBody * rb )

static

Parameters

rb	- any rigid body

Returns: wire if rb is an active wire lumped node, otherwise null

◆ getWire() [2/4]

static agxWire::Wire * agxWire::Wire::getWire ( agxCollide::Geometry * geometry )

static

Parameters

geometry - any geometry

Returns: wire if geometry is an active wire geometry, otherwise null

◆ getWire() [3/4]

static const agxWire::Wire * agxWire::Wire::getWire ( const agx::RigidBody * rb )

static

Parameters

rb	- any rigid body

Returns: wire if rb is an active wire lumped node, otherwise null

◆ getWire() [4/4]

static const agxWire::Wire * agxWire::Wire::getWire ( const agxCollide::Geometry * geometry )

static

Parameters

geometry - any geometry

Returns: wire if geometry is an active wire geometry, otherwise null

◆ hasContactNodesOn() [1/2]

bool agxWire::Wire::hasContactNodesOn ( const agx::RigidBody * rb ) const

Returns: true if wire has contact nodes on rb

◆ hasContactNodesOn() [2/2]

bool agxWire::Wire::hasContactNodesOn ( const agxCollide::Geometry * geometry ) const

Returns: true if wire has contact nodes on geometry

◆ hasGeometry()

bool agxWire::Wire::hasGeometry ( const agxCollide::Geometry * geometry ) const

Returns: true if the (cylinder or capsule) geometry belongs to this wires geometries - false otherwise

◆ hasGroup() [1/2]

bool agxWire::Wire::hasGroup ( const agx::Name & name ) const

Find if wire geometries contains group.

◆ hasGroup() [2/2]

bool agxWire::Wire::hasGroup ( const uint32_t id ) const

Find if wire geometries contains group.

◆ hasNode()

bool agxWire::Wire::hasNode ( const agxWire::Node * node ) const

Returns: true if this wire has node - otherwise false

◆ hasPropertyContainer()

bool agxWire::Wire::hasPropertyContainer ( ) const

Returns: true if it has an initialized PropertyContainer

Definition at line 1099 of file Wire.h.

References agx::ref_ptr< T >::isValid().

◆ initialized()

bool agxWire::Wire::initialized ( ) const

inline

Returns: true if this wire has been properly initialized - otherwise false

Definition at line 1052 of file Wire.h.

◆ insert() [1/2]

bool agxWire::Wire::insert	(	agxWire::Node *	node,
		agx::Real	distanceFromStart,
		bool	includeWinchPulledInLength = `true`
	)

Insert a node in this given distance along this wire.

If distanceFromStart exceeds the current total route length the node will be added instead.

Parameters

node	- node to insert
distanceFromStart	- distance from start, including pulled in length in begin winch, of this wire where the node should be inserted
includeWinchPulledInLength	- default true and should always be true unless a very special winch is used

Returns: true if the node was successfully inserted into this wire - otherwise false

Note: If distance from start is less than the pulled in length the insert will fail because it's not possible to insert nodes before the first node or add to (insert after) the last node.

◆ insert() [2/2]

bool agxWire::Wire::insert	(	agxWire::Node *	node,
		const agx::Vec3 &	worldPoint
	)

Insert a node given a point in world coordinate system.

worldPoint will be projected onto the wire so the insert point will be the closest point on the wire to worldPoint.

Parameters

node	- node to insert
worldPoint	- point in world

Returns: true if the node was successfully inserted into this wire - otherwise false

◆ isLumpedNode()

static agx::Bool agxWire::Wire::isLumpedNode ( const agx::RigidBody * rb )

static

Parameters

rb	- rigid body to check if a wire lumped node

Returns: true if rb is a wire lumped node

Referenced by agxUtil::CollectBodiesAndWiresVisitor::visit().

◆ isSimplified()

bool agxWire::Wire::isSimplified ( ) const

Returns: true if this wire is simplified

◆ merge()

bool agxWire::Wire::merge ( agxWire::WireRef other )

Merge this wire with other wire.

The end of this wire and the begin of the other wire has to be free. The end point of this and the start of the other will be merged.

All properties and parameters from this wire will be used. E.g., if this and other has different radii, the radius of this wire is the final.

Parameters

other - other wire to merge this wire with

Returns: true if merge was successful (other will be empty and removed from simulation) - otherwise false

◆ post()

virtual void agxWire::Wire::post ( const agx::TimeStamp & t )

overridevirtual

Clean up after splitting.

◆ pre()

virtual void agxWire::Wire::pre ( const agx::TimeStamp & t )

overridevirtual

Run stability update.

◆ preCollide()

virtual void agxWire::Wire::preCollide ( const agx::TimeStamp & )

overridevirtual

Update geometries.

◆ remove() [1/2]

virtual bool agxWire::Wire::remove ( agxWire::Node * node )

virtual

Remove node from this wire.

Parameters

node	- node to remove

Returns: true if the node was successfully removed from this wire - otherwise false (node not in this wire for example)

◆ remove() [2/2]

virtual bool agxWire::Wire::remove ( agxWire::WireWinchController * winchController )

virtual

Remove winch from this wire.

See also: detach

Parameters

winchController - winch controller to remove

Returns: if the winch controller was removed

◆ removeGeometries()

void agxWire::Wire::removeGeometries ( )

Removes all geometries.

◆ removeGroup() [1/2]

void agxWire::Wire::removeGroup ( const agx::Name & name )

Remove group for all geometries handled by this collision controller.

Parameters

name	- name for the group to remove

◆ removeGroup() [2/2]

void agxWire::Wire::removeGroup ( uint32_t id )

Remove group for all geometries handled by this collision controller.

Parameters

id	- id for the group to remove

◆ removeNotification()

virtual void agxWire::Wire::removeNotification ( )

overrideprotectedvirtual

Called when this wire is removed from the simulation.

◆ replaceBodyInNodes()

bool agxWire::Wire::replaceBodyInNodes	(	agx::RigidBody *	currentBody,
		agx::RigidBody *	newBody,
		agxCollide::Geometry *	geometry = `nullptr`
	)

Given currentBody, go through all bodies related to this Wire and replace them with newBody.

If geom != nullptr then only operate on the contactnodes which is associated with the specified geometry (geom).

Parameters

currentBody	- The body currently present in the LineComposite
newBody	- The body that will replace the currentBody
geometry	-

Returns: true if currentBody was successfully replaced.

◆ replaceContactNodesWithShapeContacts()

void agxWire::Wire::replaceContactNodesWithShapeContacts ( )

Replace all contact nodes with shape contact nodes.

◆ reverse()

bool agxWire::Wire::reverse ( )

Reverse this wire - use to match merge where first wire end is connected to second wire begin.

Returns: true if successful reverse - otherwise false

◆ scaleToCurrentlength()

agx::Real agxWire::Wire::scaleToCurrentlength	(	agx::Real	restLength,
		const agxWire::Node *	node
	)		const

Scale rest length to current length.

Parameters

restLength	- length in world coordinates
node	- node where the scale should be calculated

Returns: current length for segment

◆ scaleToRestlength()

agx::Real agxWire::Wire::scaleToRestlength	(	agx::Real	currentLength,
		const agxWire::Node *	node
	)		const

Scale current length in world coordinates to rest length.

Parameters

currentLength	- length in world coordinates
node	- node where the scale should be calculated

Returns: rest length for segment

◆ setActiveContactControllerType()

void agxWire::Wire::setActiveContactControllerType ( const WireContactControllerType type )

Choose the type of WireContactController to use Default is the WireShapeContactController.

The alternative is WireOldContactController,

◆ setEnableCollisions() [1/3]

void agxWire::Wire::setEnableCollisions	(	agx::RigidBody *	rb,
		bool	enable
	)

Enable or disable collisions between all geometries in a rigid body and this wire.

Parameters

rb	- rigid body
enable	- if true, collisions will be enabled, if false, disabled

◆ setEnableCollisions() [2/3]

void agxWire::Wire::setEnableCollisions	(	agxCollide::Geometry *	geometry,
		bool	enable,
		bool	forceContactUpdate = `false`
	)

Enable or disable collisions between a geometry and this wire.

Parameters

geometry	- geometry to enable/disable collisions against
enable	- if true, collisions will be enabled, if false, disabled
forceContactUpdate	- if true when disabling contacts, existing contacts will be removed, otherwise not.

◆ setEnableCollisions() [3/3]

void agxWire::Wire::setEnableCollisions ( bool enable )

Enable or disable this wire collision handling (i.e., if false, this wire will only contain bodies and constraints, no geometries)

Parameters

enable - if true, collision handling will be enabled, false disabled

◆ setEnableGroupWireCollision()

static void agxWire::Wire::setEnableGroupWireCollision	(	agxCollide::Space *	space,
		const agx::UInt32	group,
		bool	enable
	)

static

Enable/Disable a group (unique group id) against all wires.

◆ setEnableSplitting()

void agxWire::Wire::setEnableSplitting ( bool splitting )

enable/disable the ability to automatically split the wire at a body fixed node.

That means temporarily making that body fixed node kinematic, and ignoring the bend constraint with that node in the middle.

Internal method chooses the body fixed nodes, and if it is possible to split.

◆ setFrame()

void agxWire::Wire::setFrame ( agx::Frame * frame )

Assign new parent frame to this wire.

All objects in this wire will inherit this parent transform.

◆ setInitializationController()

void agxWire::Wire::setInitializationController ( agxWire::WireInitializationController * initializationController )

Assign initialization controller for this wire.

If initializationController is zero the default controller will be assigned.

Parameters

initializationController - new initialization controller

◆ setIsBendResistent()

void agxWire::Wire::setIsBendResistent ( bool isBendResistant )

This determines if the wire should have a bend constraint or not.

Parameters

isBendResistant - true if we want a bend constraint

◆ setLinearVelocityDamping()

void agxWire::Wire::setLinearVelocityDamping ( agx::Real linearVelocityDamping )

Assigns linear velocity damping to all lumped nodes (i.e., rigid bodies owned by this wire) in this wire.

Since all rigid bodies are particles it's defined to have direction dependent damping.

Parameters

linearVelocityDamping - linear velocity damping > 0

◆ setMaterial()

virtual void agxWire::Wire::setMaterial ( agx::Material * material )

virtual

Sets the material for this wire.

Parameters

material - new material

◆ setPropertyContainer()

void agxWire::Wire::setPropertyContainer ( agx::PropertyContainer * propertyContainer )

Property container for all rigid bodies and geometries that are owned by this wire.

Parameters

propertyContainer - new property container

◆ setRadius()

virtual void agxWire::Wire::setRadius ( agx::Real radius )

virtual

Set the radius of this wire.

Parameters

radius - new radius > 0

◆ setResolutionPerUnitLength()

void agxWire::Wire::setResolutionPerUnitLength ( agx::Real resolutionPerUnitLength )

Assign new resolution per unit length.

Parameters

resolutionPerUnitLength - resolution per unit length, i.e., how many discrete nodes that may appear per unit length (length = 10 m, resolutionPerUnitLength = 2 gives at maximum 20 nodes, length 10 m, resolutionPerUnitLength = 0.5 gives at maximum 5 nodes)

◆ setRouteController()

bool agxWire::Wire::setRouteController	(	agxWire::WireRouteController *	routeController,
		bool	copyCurrentRouteToNew = `false`
	)

Associate new, own implemented, route controller to this wire.

Implement add, remove and insert in your own route controller to define the behaviors during these calls.

Note: This method can only be used before this wire has been initialized.

Parameters

routeController	- new route controller, ignored if null
copyCurrentRouteToNew	- if true, and a route is partially done before this call, the routed nodes will be added to the new route

Returns: true if the new route controller is accepted - otherwise false

◆ setSmoothedTension() [1/2]

void agxWire::Wire::setSmoothedTension ( agx::Real newSmoothedTension )

Assign smoothed tension (can be useful after certain events, like cut) to this wire.

Parameters

newSmoothedTension - the new smoothed tension

◆ setSmoothedTension() [2/2]

void agxWire::Wire::setSmoothedTension	(	agx::Real	newSmoothedTension,
		agxWire::NodeIterator	from,
		agxWire::NodeIterator	to
	)

Assign smoothed tension (can be useful after certain events, like cut) to part of this wire.

Parameters

newSmoothedTension	- the new smoothed tension
from	- from node
to	- to node

◆ setSmoothingFilter()

void agxWire::Wire::setSmoothingFilter ( agxUtil::SmoothingFilter * filter )

Assign filter that will be used to filter out the tension values for smoothed tension readings.

If no filter is set (or 0) in the argument, no filter will be used.

Parameters

filter - filter which will be used to smooth the smoothed tension values

◆ setSolveType()

void agxWire::Wire::setSolveType ( agx::Constraint::SolveType solveType )

Set solve type, either DIRECT, ITERATIVE or DIRECT_AND_ITERATIVE.

◆ setWinchController()

virtual void agxWire::Wire::setWinchController	(	agxWire::WireWinchController *	winchController,
		bool	begin
	)

protectedvirtual

Assign new winch controller to this wire.

Parameters

winchController	- new winch controller
begin	- true if new winch controller is at begin, false at end

◆ shorten()

bool agxWire::Wire::shorten	(	const agxWire::Node *	toNode,
		bool	fromBegin
	)

Shorten this wire to a given node.

All nodes from this wire's end to toNode will be removed.

Note: The begin/end has to be free and this wire has to be initialized.

Parameters

toNode	- node to short this wire to
fromBegin	- true if shorten this wire from begin, false from end

Returns: true if successful - otherwise false

◆ simplify()

bool agxWire::Wire::simplify ( const agx::Frame * parentFrame = nullptr )

Simplify this wire.

Returns: true if simplified (successful)

◆ unsimplify()

bool agxWire::Wire::unsimplify ( )

Unsimplify this wire.

Returns: true if unsimplified (successful)

◆ updateMaterial()

void agxWire::Wire::updateMaterial ( )

protected

Loop through all nodes and update mass (and material NOT IMPLEMENTED)

◆ updateNodeTransforms()

void agxWire::Wire::updateNodeTransforms ( )

Updates all node transforms.

Member Data Documentation

◆ m_constraint

WireDistanceCompositeConstraintRef agxWire::Wire::m_constraint

protected

Definition at line 1008 of file Wire.h.

◆ m_frame

agx::FrameRef agxWire::Wire::m_frame

protected

Definition at line 1023 of file Wire.h.

◆ m_frictionController

WireFrictionControllerRef agxWire::Wire::m_frictionController

protected

Definition at line 1018 of file Wire.h.

◆ m_geometryController

WireGeometryControllerRef agxWire::Wire::m_geometryController

protected

Definition at line 1017 of file Wire.h.

◆ m_initializationController

WireInitializationControllerRef agxWire::Wire::m_initializationController

protected

Definition at line 1012 of file Wire.h.

◆ m_initialized

bool agxWire::Wire::m_initialized

protected

Definition at line 1022 of file Wire.h.

◆ m_internalData

agx::ref_ptr<agx::Referenced> agxWire::Wire::m_internalData

protected

Definition at line 1029 of file Wire.h.

◆ m_linearVelocityDamping

agx::Real agxWire::Wire::m_linearVelocityDamping

protected

Only linear velocity damping as real is defined for lumped nodes.

Definition at line 1024 of file Wire.h.

◆ m_materialController

WireMaterialControllerRef agxWire::Wire::m_materialController

protected

Definition at line 1015 of file Wire.h.

◆ m_parameterController

WireParameterController agxWire::Wire::m_parameterController

protected

Definition at line 1013 of file Wire.h.

◆ m_propertyContainer

agx::PropertyContainerRef agxWire::Wire::m_propertyContainer

mutableprotected

Definition at line 1031 of file Wire.h.

◆ m_propertyController

agx::ref_ptr<agx::Referenced> agxWire::Wire::m_propertyController

protected

Definition at line 1030 of file Wire.h.

◆ m_routeController

WireRouteControllerRef agxWire::Wire::m_routeController

protected

Definition at line 1011 of file Wire.h.

◆ m_simplifyController

WireSimplifyControllerRef agxWire::Wire::m_simplifyController

protected

Definition at line 1019 of file Wire.h.

◆ m_smoothingFilter

agxUtil::SmoothingFilterRef agxWire::Wire::m_smoothingFilter

protected

Definition at line 1021 of file Wire.h.

◆ m_solveType

agx::Constraint::SolveType agxWire::Wire::m_solveType

protected

Definition at line 1026 of file Wire.h.

◆ m_splitAlgorithm

agx::ref_ptr<agx::Referenced> agxWire::Wire::m_splitAlgorithm

protected

Definition at line 1028 of file Wire.h.

◆ m_splitEnabled

bool agxWire::Wire::m_splitEnabled

protected

Definition at line 1025 of file Wire.h.

◆ m_stabilityController

WireStabilityControllerRef agxWire::Wire::m_stabilityController

protected

Definition at line 1016 of file Wire.h.

◆ m_winchControllers

WireWinchControllerRefVector agxWire::Wire::m_winchControllers

protected

Winch controller vector, always of size 2, default both 0.

Definition at line 1014 of file Wire.h.

The documentation for this class was generated from the following file:

Wire.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ base

Constructor & Destructor Documentation

◆ Wire() [1/2]

◆ Wire() [2/2]

◆ ~Wire()

Member Function Documentation

◆ add() [1/5]

◆ add() [2/5]

◆ add() [3/5]

◆ add() [4/5]

◆ add() [5/5]

◆ addGroup() [1/2]

◆ addGroup() [2/2]

◆ addNotification()

◆ attach() [1/2]

◆ attach() [2/2]

◆ changeRigidBody()

◆ clone()

◆ cut() [1/2]

◆ cut() [2/2]

◆ detach()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/2]

◆ findAll() [2/2]

◆ findPoint() [1/3]

◆ findPoint() [2/3]

◆ findPoint() [3/3]

◆ findRestLength()

◆ findRestLengthFromStart()

◆ getActiveContactController()

◆ getActiveContactControllerType()

◆ getBeginAttachment() [1/2]

◆ getBeginAttachment() [2/2]

◆ getConstraint()

◆ getContactNodeMomentum()

◆ getCurrentLength() [1/2]

◆ getCurrentLength() [2/2]

◆ getCurrentLengthScaler()

◆ getEnableCollisions() [1/3]

◆ getEnableCollisions() [2/3]

◆ getEnableCollisions() [3/3]

◆ getEnableSplitting()

◆ getEndAttachment() [1/2]

◆ getEndAttachment() [2/2]

◆ getFirstNode()

◆ getFrame()

◆ getGeometries()

◆ getGeometryController()

◆ getLastNode()

◆ getLinearVelocityDamping()

◆ getLumpedNode() [1/2]

◆ getLumpedNode() [2/2]

◆ getMass()

◆ getMaterial()

◆ getMaterialController()

◆ getParameterController()

◆ getPropertyContainer() [1/2]

◆ getPropertyContainer() [2/2]

◆ getRadius()

◆ getRadiusIncludingContactNodeOffsetDistanceMultiplier()

◆ getRenderBeginIterator()

◆ getRenderEndIterator()

◆ getRenderListEmpty()

◆ getResolutionPerUnitLength()

◆ getRestLength() [1/2]

◆ getRestLength() [2/2]

◆ getRestLengthScaler()

◆ getRouteController()

◆ getSimplifyController()

◆ getSmoothingFilter()

◆ getSplitAlgorithm()